Path planning using probabilistic road maps
Matlab implementation of path planning using probabilistic road maps with a directed graph for a given 2D discretized static map of an environment with obstacles to find the minimum cost path between the arbitrary start and goal locations. This is achieved by finding valid edges (straight lines) between the vertices (the random points) and creating directed graph for shortest path calculation.
Turquoise - start point
Amber - goal point
Yellow - random generated points
Red - valid edges of the shortest path
Dark Blue - Unoccupied cells
Skyblue - obstacles
